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Disable IR leds when no ignition detected

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old-commit-hash: 3a65206c8d0400fb22239c806429842236afac2b
This commit is contained in:
Willem Melching
2020-01-30 13:42:40 -08:00
parent cd0e49cad7
commit e119df184a
1 changed files with 12 additions and 7 deletions
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19
selfdrive/boardd/boardd.cc
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@@ -685,13 +685,18 @@ void *hardware_control_thread(void *crap) {
} else if (type == cereal::Event::FRONT_FRAME){
float cur_front_gain = event.getFrontFrame().getGainFrac();
uint16_t ir_pwr;
if (cur_front_gain <= CUTOFF_GAIN) {
ir_pwr = 100.0 * MIN_IR_POWER;
} else if (cur_front_gain > SATURATE_GAIN) {
ir_pwr = 100.0 * MAX_IR_POWER;
} else {
ir_pwr = 100.0 * (MIN_IR_POWER + ((cur_front_gain - CUTOFF_GAIN) * (MAX_IR_POWER - MIN_IR_POWER) / (SATURATE_GAIN - CUTOFF_GAIN)));
}
if (cur_front_gain <= CUTOFF_GAIN) {
ir_pwr = 100.0 * MIN_IR_POWER;
} else if (cur_front_gain > SATURATE_GAIN) {
ir_pwr = 100.0 * MAX_IR_POWER;
} else {
ir_pwr = 100.0 * (MIN_IR_POWER + ((cur_front_gain - CUTOFF_GAIN) * (MAX_IR_POWER - MIN_IR_POWER) / (SATURATE_GAIN - CUTOFF_GAIN)));
}
if (!ignition){
ir_pwr = 0;
}
if (ir_pwr != prev_ir_pwr || cnt % 100 == 0 || ir_pwr >= 50.0){
pthread_mutex_lock(&usb_lock);